ethz-asl/okvis

Health v2 · maintenance only

Flags: no_releases no_license

Adoption not part of the score

1366 stars · 541 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

OKVIS is a C++ implementation of keyframe-based visual-inertial SLAM/odometry using nonlinear optimization, from ETH Zurich research. It provides a library plus demo application for estimating camera/IMU trajectory from synchronized image and inertial data.

Use cases

• run visual-inertial odometry on camera and IMU data
• estimate trajectories for drones or robots with a VI sensor
• reproduce keyframe-based visual-inertial SLAM research results
• integrate SLAM into a C++ robotics project
• process datasets from a Skybotix VI sensor

When to choose

• you need proven visual-inertial odometry with nonlinear optimization
• you work with ROS/Eigen-based robotics stacks and C++
• you want the reference implementation of the OKVIS papers

When to avoid

• you need actively maintained software with recent fixes
• you want a plug-and-play SLAM solution rather than a research codebase
• you need support for modern OpenCV versions or non-Linux platforms out of the box

Facets

library · maturity maintenance

computer-vision simulation math parser robotics autonomous-vehicles computer-vision cpp slam visual-inertial-odometry keyframe nonlinear-optimization research-software cmake algorithms linux ros

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